mirror of
https://github.com/eddyem/stm32samples.git
synced 2025-12-06 18:55:13 +03:00
61 lines
1.6 KiB
C
61 lines
1.6 KiB
C
/*
|
|
* This file is part of the multistepper project.
|
|
* Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
// amount of filter banks in STM32F
|
|
#define STM32FBANKNO 28
|
|
// flood period in milliseconds
|
|
#define FLOOD_PERIOD_MS 5
|
|
|
|
// incoming message buffer size
|
|
#define CAN_INMESSAGE_SIZE (8)
|
|
extern uint32_t floodT;
|
|
|
|
// CAN message
|
|
typedef struct{
|
|
uint8_t data[8]; // up to 8 bytes of data
|
|
uint8_t length; // data length
|
|
uint16_t ID; // ID of receiver
|
|
} CAN_message;
|
|
|
|
typedef enum{
|
|
CAN_STOP,
|
|
CAN_READY,
|
|
CAN_BUSY,
|
|
CAN_OK,
|
|
CAN_ERR,
|
|
CAN_FIFO_OVERRUN
|
|
} CAN_status;
|
|
|
|
CAN_status CAN_get_status();
|
|
|
|
void CAN_reinit(uint16_t speed);
|
|
void CAN_setup(uint16_t speed);
|
|
|
|
CAN_status CAN_send(uint8_t *msg, uint8_t len, uint16_t target_id);
|
|
void CAN_proc();
|
|
void CAN_printerr();
|
|
|
|
CAN_message *CAN_messagebuf_pop();
|
|
|
|
void CAN_flood(CAN_message *msg, int incr);
|
|
uint32_t CAN_speed();
|